Integrated joint motor drive

Abstract

The application relates to the technical field of motors, in particular to a driving integrated joint motor, which comprises a rotor, a harmonic reducer, a connecting shaft and a stator. The rotor comprises a rotor upper cover and magnetic steel arranged on the rotor upper cover. The harmonic reducer comprises a wave generator, a flexspline and a gear. The wave generator is fixed to the rotor upper cover and drives the flexspline. The flexspline is engaged with the gear. The connecting shaft connects the rotor and an output shaft of the harmonic reducer. The stator is fixedly arranged and forms an electromagnetic coupling gap with the magnetic steel. The gear is fixedly connected with an output fixing base. The first stator is installed on the outer periphery of the output fixing base and the gear. The application has the advantages of small size, light weight, high torque output, high output position control precision, high power density, high output position control precision, and the like, and is suitable for robots joints with high torque and control precision and high requirements on weight and space.

Description

[0001] This application is a divisional application of the application filed on June 5, 2025, with application number 2025107446581 and invention title "A Drive Integrated Joint Motor". Technical Field

[0002] This invention relates to the field of motor technology, and in particular to a drive-integrated joint motor. Background Technology

[0003] Existing robot joint motors are generally either internal rotor cylindrical geared motors or external rotor motors with planetary gear reduction structures. The former, internal rotor cylindrical geared motors, have a large axial length, making them unsuitable for robot joints with limited space. This can cause interference with other components or protrude beyond the robot's exterior, posing a safety hazard by causing collisions during movement. Additionally, the protruding motor affects the overall aesthetics. As for the latter, external rotor motors with planetary gear reduction structures, the limited speed ratio of planetary gear reducers necessitates a large diameter and thickness to meet the high torque output requirements of joint drive motors that require high torque and low speed. Consequently, these motors are large and heavy, making them unsuitable for use on some portable robots. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a drive-integrated joint motor. The motor is small in size and light in weight, while having high torque output and high power density, as well as high output position control accuracy. It is suitable for robot joints that have requirements for weight and space and high torque and control accuracy.

[0005] The technical solution adopted by this invention to achieve its technical objective is: a disc-driven integrated joint motor, comprising:

[0006] The rotor includes a rotor cover and magnets disposed thereon;

[0007] A harmonic reducer includes a wave generator, a flexible wheel, and a gear. The wave generator is fixed to the upper cover of a rotor and drives the flexible wheel. The flexible wheel meshes with the gear.

[0008] The first connecting shaft connects the rotor to the output shaft of the harmonic reducer;

[0009] The first stator is fixedly installed and forms an electromagnetic coupling gap with the magnet;

[0010] The gear is fixedly connected to the output mounting base, and the first stator is mounted on the outer periphery of the output mounting base and the gear.

[0011] Preferably, the rotor further includes a rotor magnetic coil, and the magnets are evenly distributed circumferentially on the inner peripheral wall of the rotor magnetic coil;

[0012] The output shaft is connected to the output mounting base via a second bearing;

[0013] The first connecting shaft is connected to the rotor cover via a first bearing;

[0014] The wave generator is at least partially located inside the flex wheel, which is fixed to the output shaft.

[0015] Preferably, the output mounting base has a mounting step on one end face facing the gear, the mounting step being located on the inner edge of the end face of the output mounting base, and the gear has a gear boss on one end face facing the output mounting base, the gear boss being adapted to the mounting step, the output mounting base and the gear being connected by bolts, the bolts being located on the periphery of the gear boss and the mounting step.

[0016] Preferably, the inner peripheral wall of the first stator is provided with a stator positioning pin groove, the outer peripheral wall of the output fixing seat is provided with a fixing seat positioning pin groove, and the outer peripheral wall of the gear is provided with a gear positioning pin groove. The fixing seat positioning pin groove and the gear positioning pin groove correspond one-to-one, and the fixing seat positioning pin groove, the gear positioning pin groove and the stator positioning pin groove are adapted to form a groove for accommodating the positioning pin.

[0017] Preferably, it further includes a housing and a drive plate fixing cover. One end of the housing is fixedly connected to the output fixing seat, and the other end of the housing is fixedly connected to the drive plate fixing cover. The drive plate fixing cover is connected to the rotor cover through a third bearing.

[0018] Preferably, the device further includes a wire-blocking plate, which includes a straight plate and a first bending head and a second bending head located at both ends of the straight plate. The first bending head and the second bending head are both perpendicular to the straight plate. The width of the first bending head is smaller than the width of the second bending head. The outer peripheral wall of the outer shell is provided with a protruding wire routing groove. Two relatively close baffles are formed on the inner side of the wire routing groove. The distance between the two baffles is smaller than the width of the straight plate. The straight plate is located in the wire routing groove. The first bending head extends inward from the two baffles and is engaged with the two baffles. The second bending head protrudes from the wire routing groove and abuts against the end faces of the two baffles. The second bending head extends inward. The outer edge of the drive plate fixing cover is provided with a recessed groove and a hollow part. The wire routing groove, recessed groove, and hollow part located around the wire-blocking plate are connected to form a wire routing channel.

[0019] Preferably, a baffle is fixedly connected to one end of the gear, the outer edge diameter of the baffle is larger than the inner diameter of the first stator, the baffle covers the outer end of the flexible gear, and the second bearing is a crossed roller bearing.

[0020] Preferably, it further includes a first rear cover, a first magnetic ring is fixedly installed on the rotor cover, an encoder circuit board that matches the first magnetic ring is fixedly installed on the drive plate fixing cover, one end face of the first connecting shaft is closed, a second magnetic ring is installed on the other end face of the first connecting shaft, a drive circuit board that matches the second magnetic ring is fixedly installed on the drive plate fixing cover, the first rear cover is fixedly connected to the drive plate fixing cover, and a heat-conducting sheet is attached between the drive circuit board and the first rear cover.

[0021] The present invention also provides an integrated joint motor, comprising:

[0022] The rotor includes a rotor cover and magnets disposed thereon;

[0023] A harmonic reducer includes a wave generator, a flexible wheel, and a gear. The wave generator is fixed to the upper cover of a rotor and drives the flexible wheel. The flexible wheel meshes with the gear.

[0024] The second connecting shaft links the rotor to the output shaft of the harmonic reducer;

[0025] The second stator is fixedly installed and forms an electromagnetic coupling gap with the magnet.

[0026] Preferably, it also includes an integral third back cover, which is through-hole in the center and communicates with the second connecting shaft. Specifically, the first or second back cover is replaced with a third back cover, the center of which is through-hole, and the second connecting shaft is set as a hollow shaft with open ends. The connection between the third back cover and the second connecting shaft facilitates the arrangement of leads and circuits.

[0027] One end of the second connecting shaft is directly fixed to the flexure wheel with bolts, forming a positioning chamber between it and the output shaft. Specifically, by replacing the first connecting shaft in the above embodiment with the second connecting shaft, only one bolt is needed to directly fix one end of the second connecting shaft below the flexure wheel. This design simplifies the connection and assembly of the second connecting shaft, avoiding the need to fix the second connecting shaft inside the flexure wheel using a flange. Simultaneously, since the top of the second connecting shaft is recessed below the output shaft, a positioning chamber is formed inside the output shaft, serving as a central positioning function and facilitating subsequent component installation.

[0028] The second stator has a hollow cup structure, and its stator coil is encapsulated with heat dissipation holes. Specifically, by replacing the first stator in the above embodiment with the second stator, the stator coil of the second stator is encapsulated with plastic, and after encapsulation, heat dissipation holes are made on the encapsulation shell of the stator coil of the second stator, thereby obtaining a stator with a heat dissipation structure.

[0029] Preferably, the system further includes a drive motor encoder and an encoder assembly, wherein the motor encoder is disposed between the rotor and the drive plate mounting base. Specifically, the drive motor encoder includes a motor encoder rotor and a motor encoder stator; and its overall position is moved and disposed between the rotor cover of the rotor and the drive plate mounting base, thereby ensuring that the overall thickness of the motor does not increase and that the driving accuracy of the motor is guaranteed.

[0030] The output shaft is connected to an encoder assembly via the second connecting shaft. Specifically, the encoder assembly is an inductive encoder, including an encoder rotor code disk, an encoder stator induction coil circuit board, and an encoder base. The bottom end of the second connecting shaft is directly fixed to the encoder rotor code disk, and the encoder rotor code disk and the encoder stator induction coil circuit board are mounted on the encoder base.

[0031] Compared with the prior art, the beneficial effects of the present invention are as follows: a high-speed ratio harmonic reducer is embedded in the middle of the stator core of the motor, and the power is transmitted to the wave generator at the input end of the harmonic reducer through a clever design of the motor rotor connection structure. A connecting shaft is designed on the output shaft of the harmonic reducer to transmit the rotation position of the output shaft to the drive circuit board at the rear end of the motor. A second magnetic ring is installed on the connecting shaft at the end of the drive circuit board, and the second magnetic ring corresponds to the encoder chip on the drive circuit board. Therefore, the rotation angle of the output shaft after deceleration can be detected (or the rotation position of the output shaft is transmitted to the drive board at the rear end of the motor, and a fourth magnetic ring is installed on the connecting shaft, and the fourth magnetic ring corresponds to the encoder chip on the drive board). Thus, the repeatability of the output end of the motor after deceleration can be precisely controlled, while the overall size is reduced and the routing of the lead wires is convenient and reliable. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a perspective view of Example 1.

[0034] Figure 2 This is a first sectional view of Embodiment 1.

[0035] Figure 3 This is a second sectional view of Embodiment 1.

[0036] Figure 4 This is a partial perspective view of Example 1.

[0037] Figure 5This is a perspective view of the rotor cover of Embodiment 1.

[0038] Figure 6 This is a perspective view of the output mounting bracket in Embodiment 1.

[0039] Figure 7 This is a perspective view of the gear in Example 1.

[0040] Figure 8 This is a perspective view of the flexible wheel in Example 1.

[0041] Figure 9 This is a perspective view of the stator in Example 1.

[0042] Figure 10 This is a perspective view of the harmonic reducer in Example 1.

[0043] Figure 11 This is a cross-sectional view of the harmonic reducer in Embodiment 1.

[0044] Figure 12 This is a perspective view of the outer casing of Embodiment 1.

[0045] Figure 13 This is a perspective view of the wire-blocking plate in Example 1.

[0046] Figure 14 This is a perspective view of the drive board fixing cover of Embodiment 1.

[0047] Figure 15 This is a perspective view of the housing and wire baffle plate in embodiment one.

[0048] Figure 16 This is a cross-sectional view of Example 2;

[0049] Figure 17 for Figure 16 Enlarged view of point A in the middle;

[0050] Figure 18 This is a perspective view of the protective plug in Example 2.

[0051] Figure 19 This is a front sectional view of Example 3.

[0052] Figure 20 This is a three-dimensional sectional view of Example 3.

[0053] Figure 21 This is a perspective view of the second stator in Embodiment 3.

[0054] Wherein: 1-Rotor; 11-Rotor top cover; 111-Protrusion; 112-Clamping groove; 12-Rotor magnetic guide ring; 13-Magnet; 14-First magnetic ring; 2-Harmonic reducer; 21-Wave generator; 22-Flexible wheel; 221-External gear; 23-Output shaft; 24-Second bearing; 25-Output fixing seat; 251-Fixing seat positioning pin groove; 252-Fixing seat step; 26-Gear; 261-Gear positioning pin groove; 262-Internal gear; 263-Gear boss; 3-First connecting shaft; 31-First bearing; 32-Second magnetic ring; 4-Stator; 41-Baffle; 42-Stator positioning pin groove; 5-Outer shell; 51-Wire routing groove; 52-Side retainer; 6-Drive board fixing cover; 61-Third bearing; 62-Encoder circuit board; 63-Drive circuit board; 6 4-Heat-conducting sheet; 65-Recessed groove; 66-Hollowed section; 7-First rear cover; 8-Wire baffle; 81-Straight sheet; 82-First bending head; 83-Second bending head; 9-Second rear cover; 91-Drive board; 92-Third magnetic ring; 93-Fourth magnetic ring; 94-Protective plug; 941-Protruding head; 942-Plug ring section; 943-Outer abutment ring; 944-Plug sealing section; 95-Magnetic ring fixing seat; 96-Sealing ring; 1001-Second connecting shaft; 1002-Third rear cover; 1003-Drive board fixing seat; 1004-Motor encoder rotor; 1005-Motor encoder stator; 1006-Encoder base; 1007-Second stator; 1008-Heat dissipation hole; 1009-Encoder rotor code disk; 1010-Encoder stator induction coil circuit board. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0056] In the description of this invention, it should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to or indirectly connected to the other element.

[0057] In the description of this invention, it should be noted that the terms "center," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0058] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0059] Example 1:

[0060] Reference Figures 1-15 As shown, this embodiment discloses a disc-driven integrated articulated motor, including a rotor 1, a harmonic reducer 2, a connecting shaft 3, a stator 4, a housing 5, a drive plate fixing cover 6, a first rear cover 7, and a wire baffle 8. The rotor 1 includes a rotor upper cover 11, a rotor magnetic coil 12, and magnets 13. (Refer to...) Figure 5 One end face of the rotor cover 11 extends circumferentially distributed convex ribs 111, and a clamping groove 112 is formed between two adjacent convex ribs 111, as shown in the figure. Figure 4 One end of the magnet 13 is inserted into the clamping groove 112. The rotor cover 11 and the rotor magnetic ring 12 are connected. The rotor magnetic ring 12 is annular and is located around the convex strip 111. The outer diameter of the rotor magnetic ring 12 is close to the maximum outer diameter of the rotor cover 11. The magnet 13 is evenly distributed circumferentially on the inner wall of the rotor magnetic ring 12. The end of the magnet 13 away from the clamping groove 112 does not extend beyond the corresponding end of the rotor magnetic ring 12.

[0061] Reference Figure 2 , Figure 10 , Figure 11 The harmonic reducer 2 includes a wave generator 21, a flexible wheel 22, an output shaft 23, a second bearing 24, an output mounting base 25, and a gear 26. The output shaft 23 and the output mounting base 25 are connected by the second bearing 24, which is a crossed roller bearing. The cross roller bearing supports the output shaft 23, ensuring its perpendicularity and concentricity. Using the cross roller bearing reduces the overall size of the harmonic reducer 2.

[0062] The output shaft 23 and the connecting shaft 3 are fixedly connected by bolts, and after connection, one end face of the two is basically flush. Figure 2 The left end face of the middle is bolted and basically flush.

[0063] Reference Figure 2 The connecting shaft 3 and the rotor cover 11 are connected by two first bearings 31 arranged side by side. The inner ring of the left first bearing 31 abuts against the step of the connecting shaft 3, and the outer ring of the right first bearing 31 abuts against the step of the rotor cover 11. The connecting shaft 3 connects the inner rings of the two first bearings 31, and the rotor cover 11 connects the outer rings of the two first bearings 31. Both the rotor cover 11 and the connecting shaft 3 can rotate around the center.

[0064] Reference Figure 2 The wave generator 21 is fixedly connected to the rotor cover 11. The wave generator 21 is located on the left side of the rotor cover 11 and the two are connected by bolts. The wave generator 21 is located around the two first bearings 31 and is separated from the two first bearings 31 by the annular component extending axially to the left from the rotor cover 11. The inner ring of the wave generator 21 is in contact with the outer peripheral wall of the annular component.

[0065] Reference Figure 2 The flexible wheel 22 is fixedly connected to the output shaft 23, and the flexible wheel 22 is located close to the right side of the output shaft 23 and the two are connected by bolts. The wave generator 21 is at least partially located inside the flexible wheel 22, as shown in the figure. Figure 8 The outer peripheral wall of the flexible wheel 22 is provided with external teeth 221.

[0066] Reference Figure 2 , Figure 7 The inner peripheral wall of the gear 26 is provided with an inner tooth 262 that is adapted to the outer tooth 221.

[0067] Reference Figure 2 , Figure 6 , Figure 7 , Figure 11The output mounting base 25 and the gear 26 are fixedly connected. The output mounting base 25 has a stepped portion 252 on its end face facing the gear 26, located at the inner edge of the end face. The gear 26 has a gear boss 263 on its end face facing the output mounting base 25, which is adapted to the stepped portion 252, and the two fit together in a close-fitting insertion. The output mounting base 25 and the gear 26 are connected by M2 bolts, which are located around the gear boss 263 and the stepped portion 252, helping to reduce the overall size of the harmonic reducer 2.

[0068] Reference Figure 2 The stator 4 is fixedly installed on the outer peripheral wall of the gear 26 and the output fixing seat 25, and a gap is left between the stator 4 and the magnet 13.

[0069] Reference Figure 2 , Figure 9 Only the stator core is shown here; the stator windings are not. The inner circumferential wall of the stator 4 is provided with a stator positioning pin groove 42, as shown in the reference diagram. Figure 6 , Figure 7 The outer peripheral wall of the output fixing seat 25 is provided with a fixing seat positioning pin groove 251, and the outer peripheral wall of the gear 26 is provided with a gear positioning pin groove 261. The fixing seat positioning pin groove 251 and the gear positioning pin groove 261 correspond one-to-one and are adapted to the stator positioning pin groove 42. By inserting positioning pins into the grooves formed by the fixing seat positioning pin groove 251, the gear positioning pin groove 261, and the stator positioning pin groove 42, it is possible to prevent the gear 26 from shifting and rotating after being subjected to force (because the M2 small bolt alone cannot guarantee the fixing strength between the output fixing seat 25 and the gear 26).

[0070] Reference Figure 2 A baffle plate 41 is fixedly connected to one end of the gear 26, and the two are connected by bolts. The outer edge diameter of the baffle plate 41 is larger than the inner diameter of the stator 4, so as to prevent the stator 4 from coming out from the right side. The baffle plate 41 covers the outer end of the flexible wheel 22 to prevent grease from overflowing and is used to block the grease in the harmonic reducer 2.

[0071] Reference Figure 2 One end of the outer casing 5 is fixedly connected to the output fixing base 25, and the other end of the outer casing 5 is fixedly connected to the drive plate fixing cover 6, both of which are connected by bolts.

[0072] Reference Figure 2 The drive plate fixing cover 6 is connected to the rotor cover 11 via the third bearing 61. The inner ring of the third bearing 61 is connected to the rotor cover 11, and the outer ring of the third bearing 61 is connected to the drive plate fixing cover 6.

[0073] Reference Figure 2 One end face of the connecting shaft 3 is closed, and a second magnetic ring 32 is installed on the other end face (right end face) of the connecting shaft 3. The drive board fixing cover 6 is fixedly installed with a drive circuit board 63 that matches the second magnetic ring 32. The shaft encoder (with the second magnetic ring 32 at the exact center of the connecting shaft 3 and the encoder detection chip facing the second magnetic ring 32) can effectively improve the repeatability of the connecting shaft 3, achieving high precision and a simple structure at a relatively low encoder cost.

[0074] Reference Figure 2 A first magnetic ring 14 is fixedly mounted on the rotor cover 11. The first magnetic ring 14 is located on the right side of the rotor cover 11 and between the rotor cover 11 and the drive plate fixing cover 6. An encoder circuit board 62 that matches the first magnetic ring 14 is fixedly mounted on the drive plate fixing cover 6. The chip on the encoder circuit board 62 corresponds to the first magnetic ring 14 and is used to detect the position of the motor rotor to accurately control the smooth operation of the drive motor.

[0075] Reference Figure 13 The line-blocking piece 8 includes a straight piece 81 and a first bending head 82 and a second bending head 83 located at both ends of the straight piece 81. The first bending head 82 and the second bending head 83 are both perpendicular to the straight piece 81. The width of the first bending head 82 is smaller than the width of the second bending head 83. Both ends of the width direction of the first bending head 82 are at a certain distance from both ends of the width direction of the straight piece 81.

[0076] Reference Figure 12 The outer peripheral wall of the outer shell 5 is provided with a protruding wiring groove 51, and two relatively close baffles 52 are formed on the inner side of the wiring groove 51. The distance between the two baffles 52 is less than the width of the straight sheet 81.

[0077] Reference Figure 14 The outer edge of the drive plate fixing cover 6 is provided with a recessed groove 65 and a hollow part 66, and the hollow part 66 is a part that directly penetrates from the inside to the outside.

[0078] Reference Figure 15 The straight plate 81 is located inside the wiring groove 51. The first bending head 82 extends inward and is engaged with the two baffles 52. The second bending head 83 protrudes from the wiring groove 51 and abuts against the end faces of the two baffles 52. The second bending head 83 extends inward. The first bending head 82 is a certain distance from the end face of the outer shell 5. The straight plate 81 blocks the communication channel between the wiring groove 51 and the interior of the outer shell 5 through the gap between the two baffles 52.

[0079] Reference Figure 3The wiring groove 51, recessed groove 65, and hollowed-out portion 66 located around the wire-blocking plate 8 are connected to form a wiring channel. The lead wire from the stator 4 passes around the first bend head 82 on the left side and enters the wiring groove 51 (i.e., the gap between the first bend head 82 and the end face of the outer casing 5). Since the gap between the two baffles 52 has been blocked by the straight plate 81, the lead wire can only follow the path shown in the figure. Figure 2 The wires pass through the wiring groove 51 below the straight plate 81, then reach the recessed groove 65, and then pass through the hollow part 66 to enter the drive circuit board 63 and other places for connection. This ensures that the wiring is convenient, safe and reliable, and the lead wires will not rub against the rotor 1.

[0080] Reference Figure 2 The first rear cover 7 is fixedly connected to the drive board fixing cover 6, and the two are connected by bolts. A heat-conducting sheet 64 is attached between the drive circuit board 63 and the first rear cover 7. The heat generated by the drive circuit board 63 can be conducted to the outside through the first rear cover 7 via the heat-conducting sheet 64.

[0081] Example 2:

[0082] Reference Figures 16-18 Compared to Embodiment 1, this disc-driven integrated joint motor differs in that it uses a connecting shaft 3 that runs through both ends. This is mainly because the joint requires wiring, so the joint's wiring can pass through the connecting shaft 3 for easier wiring. The mounting positions of the drive board and encoder have been adjusted, and the second rear cover 9 replaces the first rear cover 7 in Embodiment 1.

[0083] The second rear cover 9 is fixedly connected to the drive plate fixing cover 6. The rotor upper cover 11 is fixedly installed with a third magnetic ring 92 (the position of the third magnetic ring 92 has been adjusted compared with the embodiment, and its function is equivalent to the first magnetic ring 14 in embodiment 1). The third magnetic ring 92 is located on the right side of the third bearing 61. The axial length of the rotor upper cover 11 is longer than that of embodiment 1. This extended part is for installing the third magnetic ring 92. In order to compensate for this extended length, the encoder circuit board 62 is omitted compared with embodiment 1, and only a drive plate 91 is used (in embodiment 1, the encoder circuit board 62 and the drive circuit board 63 are used together). This compensates for the increased axial length of the rotor upper cover 11, making the size of the entire motor controllable.

[0084] The drive plate fixing cover 6 is fixedly mounted with a drive plate 91 that matches the third magnetic ring 92. The outer wall of the connecting shaft 3 is mounted with a fourth magnetic ring 93 (the fourth magnetic ring 93 functions as the second magnetic ring 32 in Embodiment 1) through a magnetic ring fixing seat 95. The fourth magnetic ring 93 is adapted to the drive plate 91. The third magnetic ring 92 and the fourth magnetic ring 93 are located on both sides of the drive plate 91, that is, the encoders corresponding to the third magnetic ring 92 and the fourth magnetic ring 93 are located on both sides of the drive plate 91.

[0085] A protective plug 94, made of plastic, is installed at the center of the second rear cover 9, extending through both ends. The end face of the protective plug 94 is spaced apart from the end face of the connecting shaft 3. The joint's wiring can pass through the connecting shaft 3 and the protective plug 94. Since the connecting shaft 3 is rotatable, the protective plug 94 is stationary, therefore the end face of the protective plug 94 does not contact the end face of the connecting shaft 3.

[0086] The protective plug 94 includes an integrally formed convex head 941, a plug ring 942, an outer abutment ring 943, and a plug sealing part 944. The outer abutment ring 943, the plug ring 942, the convex head 941, and the plug sealing part 944 are axially distributed sequentially. Multiple convex heads 941 are evenly distributed circumferentially. The outer diameter of the outer abutment ring 943 is larger than the diameter of the central hole of the second rear cover 9, and the outer abutment ring 943 is located on the outer side of the second rear cover 9. Figure 17 (Right side of the second rear cover 9) The diameter of the central hole of the second rear cover 9 is larger than the outer diameter of the plug ring 942 and the plug ring 942 at least partially penetrates the central hole of the second rear cover 9. The outer ring surface of the convex head 941 is a conical surface. The outer diameter of the convex head 941 gradually decreases from the end near the plug ring 942 to the end near the plug sealing part 944. The outer diameter of the end of the convex head 941 near the plug ring 942 is larger than the diameter of the central hole of the second rear cover 9. The outer diameter of the end of the convex head 941 near the plug sealing part 944 is smaller than the diameter of the central hole of the second rear cover 9. The convex head 941 and the outer abutment ring 943 are located on both sides of the central hole of the second rear cover 9, so that the protective plug 94 will not fall out after being inserted into the central hole of the second rear cover 9.

[0087] The outer diameter of the plug sealing part 944 is smaller than the minimum outer diameter of the protruding head 941, and a sealing ring 96 is installed between the outer peripheral wall of the plug sealing part 944 and the inner peripheral wall of the magnetic ring fixing seat 95.

[0088] Example 3:

[0089] Please see Figures 19-21 Based on the above embodiment 1 or 2, the integrated joint motor differs from embodiment 1 or 2 in that:

[0090] Specifically, such as Figure 21 In this embodiment of the invention, a second stator 1007 is also included, which is configured as a hollow cup structure. Specifically, by replacing the first stator 4 in the above embodiment 1 with the second stator 1007, the stator coil of the second stator 1007 is encapsulated. After encapsulation, heat dissipation holes 1008 are opened on the encapsulation shell of the stator coil of the second stator 1007, thereby obtaining a stator with a heat dissipation structure.

[0091] In this embodiment of the invention, a second connecting shaft 1001 is also included. One end of the second connecting shaft 1001 is directly fixed to the flexure 22 of the harmonic reducer 2 by bolts. Simultaneously, a positioning chamber is formed between one end of the second connecting shaft 1001 and the output shaft 23 of the harmonic reducer 2. Specifically, by replacing the first connecting shaft 3 in the above embodiment 1 with the second connecting shaft 1001, only one bolt is needed to directly fix one end of the second connecting shaft 1001 below the flexure 22. This design simplifies the connection and assembly of the second connecting shaft 1001, avoiding the need to fix the second connecting shaft 1001 inside the flexure 22 using a flange. Furthermore, since the top end of the second connecting shaft 1001 is recessed below the output shaft 23, a positioning chamber is formed inside the output shaft 23, serving as a central positioning function and facilitating subsequent component installation.

[0092] It also includes a third rear cover 1002, which is an integral, one-piece cover. The third rear cover 1002 is connected to the second connecting shaft 1001. Specifically, the first rear cover 7 or the second rear cover 9 is replaced by the third rear cover 1002. The center of the third rear cover 1002 is through-hole. The second connecting shaft 1001 is a hollow shaft with open ends. The connection between the third rear cover 1002 and the second connecting shaft 1001 facilitates the arrangement of leads and circuits.

[0093] In this embodiment of the invention, the output shaft 23 of the harmonic reducer 23 is connected to an encoder assembly via the second connecting shaft 1001; the output shaft 23 is fixed to the top end of the second connecting shaft 1001, and the encoder assembly is fixed to the bottom end of the second connecting shaft 1001.

[0094] Specifically, the encoder assembly is configured as an inductive encoder, including an encoder rotor code disk 1009, an encoder stator induction coil circuit board 1010, and an encoder base 1011. The bottom end of the second connecting shaft 1001 is directly fixed to the encoder rotor code disk 1009, and the encoder rotor code disk 1009 and the encoder stator induction coil circuit board 1010 are mounted on the encoder base 1011.

[0095] In this embodiment of the invention, a drive motor encoder is also included, which is disposed between the rotor 1 and the drive plate mounting base 1003. Specifically, the drive motor encoder includes a motor encoder rotor 1004 and a motor encoder stator 1005; and its overall position is moved and disposed between the rotor cover 11 of the rotor 1 and the drive plate mounting base 1003. The motor encoder rotor 1004 is mounted on the rotor cover 11, and the motor encoder stator 1005 is mounted on the drive plate mounting base 1003. Since the motor encoder rotor 1004 is directly fixed to the rotor cover 11 and the motor encoder stator 1005 is directly fixed to the drive plate mounting base 1003, the overall thickness of the motor will not increase, and the driving accuracy of the motor is guaranteed.

[0096] The solution in this embodiment can be selectively combined with solutions in other embodiments.

[0097] It should be noted that although the above embodiments have been described herein, this does not limit the scope of patent protection of this invention. Therefore, any changes and modifications made to the embodiments described herein based on the innovative concept of this invention, or equivalent structural, procedural, or functional transformations made using the description and drawings of this invention, directly or indirectly applying the above technical solutions to other related technical fields, are all included within the scope of protection of this invention.

Claims

1. A disc-driven integrated joint motor, characterized in that, include: The rotor (1) includes a rotor cover (11) and a magnet (13) disposed thereon. The harmonic reducer (2) includes a wave generator (21), a flexible wheel (22) and a gear (26). The wave generator (21) is fixed to the rotor cover (11) and drives the flexible wheel (22). The flexible wheel (22) meshes with the gear (26). The first connecting shaft (3) connects the rotor (1) and the output shaft (23) of the harmonic reducer (2). The first stator (4) is fixedly installed and forms an electromagnetic coupling gap with the magnet (13); The gear (26) is fixedly connected to the output mounting base (25), and the first stator (4) is installed on the outer periphery of the output mounting base (25) and the gear (26).

2. The disc-driven integrated joint motor according to claim 1, characterized in that, The rotor (1) also includes a rotor magnetic coil (12), and the magnets (13) are evenly distributed circumferentially on the inner circumferential wall of the rotor magnetic coil (12); The output shaft (23) is connected to the output mounting base (25) via a second bearing (24); The first connecting shaft (3) is connected to the rotor cover (11) via the first bearing (31); The wave generator (21) is at least partially located inside the flexure (22), which is fixed to the output shaft (23).

3. The disc-driven integrated joint motor according to claim 1, characterized in that, The output mounting base (25) has a mounting base step (252) on one end face facing the gear (26). The mounting base step (252) is located on the inner edge of the end face of the output mounting base (25). The gear (26) has a gear boss (263) on one end face facing the output mounting base (25). The gear boss (263) is adapted to the mounting base step (252). The output mounting base (25) and the gear (26) are connected by bolts. The bolts are located on the periphery of the gear boss (263) and the mounting base step (252).

4. The disc-driven integrated joint motor according to claim 1, characterized in that, The inner peripheral wall of the first stator (4) is provided with a stator positioning pin groove (42), the outer peripheral wall of the output fixing seat (25) is provided with a fixing seat positioning pin groove (251), and the outer peripheral wall of the gear (26) is provided with a gear positioning pin groove (261). The fixing seat positioning pin groove (251) and the gear positioning pin groove (261) correspond one-to-one. The fixing seat positioning pin groove (251), the gear positioning pin groove (261) and the stator positioning pin groove (42) are adapted to form a groove for accommodating the positioning pin.

5. A disc-driven integrated joint motor according to claim 1, characterized in that, It also includes a housing (5) and a drive plate fixing cover (6). One end of the housing (5) is fixedly connected to the output fixing seat (25), and the other end of the housing (5) is fixedly connected to the drive plate fixing cover (6). The drive plate fixing cover (6) is connected to the rotor cover (11) through a third bearing (61).

6. A disc-driven integrated joint motor according to claim 5, characterized in that, It also includes a wire baffle (8), which includes a straight body (81) and a first bending head (82) and a second bending head (83) located at both ends of the straight body (81). The first bending head (82) and the second bending head (83) are both perpendicular to the straight body (81). The width of the first bending head (82) is smaller than the width of the second bending head (83). The outer peripheral wall of the outer shell (5) is provided with a protruding wire routing groove (51). Two relatively close baffles (52) are formed on the inner side of the wire routing groove (51). The distance between the two baffles (52) is smaller than that between the straight body. The width of (81) is such that the straight plate (81) is located in the wiring groove (51), the first bending head (82) extends inward and is engaged with the two baffles (52), the second bending head (83) is exposed in the wiring groove (51) and abuts against the end face of the two baffles (52), the second bending head (83) extends inward, the outer edge of the drive plate fixing cover (6) is provided with a recessed groove (65) and a hollow part (66), the wiring groove (51), the recessed groove (65) and the hollow part (66) located around the wire baffle (8) are connected to form a wiring channel.

7. A disc-driven integrated joint motor according to claim 1, characterized in that, One end of the gear (26) is fixedly connected to a baffle (41). The outer edge diameter of the baffle (41) is larger than the inner diameter of the first stator (4). The baffle (41) covers the outer end of the flexible wheel (22). The second bearing (24) is a crossed roller bearing.

8. A disc-driven integrated joint motor according to claim 5, characterized in that, It also includes a first rear cover (7), a first magnetic ring (14) is fixedly installed on the rotor cover (11), an encoder circuit board (62) that matches the first magnetic ring (14) is fixedly installed on the drive plate fixing cover (6), one end face of the first connecting shaft (3) is closed, a second magnetic ring (32) is installed on the other end face of the first connecting shaft (3), a drive circuit board (63) that matches the second magnetic ring (32) is fixedly installed on the drive plate fixing cover (6), the first rear cover (7) is fixedly connected to the drive plate fixing cover (6), and a heat-conducting sheet (64) is attached between the drive circuit board (63) and the first rear cover (7).

9. An integrated joint motor, characterized in that, include: The rotor (1) includes a rotor cover (11) and a magnet (13) disposed thereon. The harmonic reducer (2) includes a wave generator (21), a flexible wheel (22) and a gear (26). The wave generator (21) is fixed to the rotor cover (11) and drives the flexible wheel (22). The flexible wheel (22) meshes with the gear (26). The second connecting shaft (1001) is linked to the output shaft (23) of the rotor (1) and the harmonic reducer (2). The second stator (1007) is fixedly installed and forms an electromagnetic coupling gap with the magnet (13); The integrated third rear cover (1002) has a central through-hole and is connected to the second connecting shaft (1001). One end of the second connecting shaft (1001) is directly fixed to the flexible wheel (22) by bolts, and a positioning chamber is formed between it and the output shaft (23).

10. An integrated joint motor according to claim 9, characterized in that, The second stator (1007) is a hollow cup structure, and its stator coil is encapsulated with heat dissipation holes (1008). It also includes a drive motor encoder and an encoder assembly. The motor encoder is disposed between the rotor (1) and the drive plate mounting base (1003). The output shaft (23) is connected to the encoder assembly via the second connecting shaft (1001).

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